9 papers
BayesContact: Uncertain Pose Estimation via Visuo-Tactile Proposals and Simulation-based Inference
Aditya Kamireddypalli, Matias Mattamala, Joao Moura +3
Contact-rich manipulation requires pose estimates that are often more accurate than what depth-only sensing provides. Existing methods, relying on vision and contact, employ costly…
Optimal Transport Q-Learning for Flow Policy Steering and Acceleration
Andreas Sochopoulos, Esmeralda S. Whitammer, Nikolaos Tsagkas +3
Diffusion and flow policies have recently demonstrated remarkable performance in robotic applications by accurately capturing multimodal robot trajectory distributions, especially…
Online Estimation and Manipulation of Articulated Objects
Russell Buchanan, Adrian Röfer, João Moura +2
From refrigerators to kitchen drawers, humans interact with articulated objects effortlessly every day while completing household chores. For automating these tasks, service robots…
Poke and Strike: Learning Task-Informed Exploration Policies
Marina Y. Aoyama, Joao Moura, Juan Del Aguila Ferrandis +1
In many dynamic robotic tasks, such as striking pucks into a goal outside the reachable workspace, the robot must first identify the relevant physical properties of the object for…
Scaling Whole-body Multi-contact Manipulation with Contact Optimization
Victor Levé, João Moura, Sachiya Fujita +3
Daily tasks require us to use our whole body to manipulate objects, for instance when our hands are unavailable. We consider the issue of providing humanoid robots with the ability…
Learning Goal-Directed Object Pushing in Cluttered Scenes With Location-Based Attention
Nils Dengler, Juan Del Aguila Ferrandis, João Moura +2
In complex scenarios where typical pick-and-place techniques are insufficient, often non-prehensile manipulation can ensure that a robot is able to fulfill its task. However, non-p…